A storage system

Abstract

The disclosure relates to a storage system for storing storage containers, the storage system comprising: a plurality of vertical storage columns, each vertical storage column configured to accommodate a plurality of storage containers in a vertical stack; a horizontal rail system arranged above the vertical storage columns, configured to support a vehicle to travel on the rail system to insert and remove storage containers from the vertical storage columns; and an inspection cell located in a vertical storage column and configured to obtain inspection data from a storage container positioned in the inspection cell.

Description

A STORAGE SYSTEMTECHNICAL FIELD

[0001] The disclosure relates to a storage system. More particularly, it relates to a storage system for storing storage containers and to a method for inspecting a storage container.BACKGROUND

[0002] Traditional storage solutions usually involve the arrangement of goods on rows of shelves within a warehouse. The shelf location for each item is recorded in an inventory, and goods are retrieved from the shelves by a stock picker. The shelves are restocked and the inventory updated, as needed, as goods enter and leave the warehouse.

[0003] Warehouse workers may be assisted by robotic pickers and by automated inventory management systems. Automated transit systems may also be implemented in traditional warehouse set-ups to move goods from their inventory location to a picking and / or packing station.

[0004] An alternative to a traditional warehouse set-up is an automated storage and retrieval system in which robots retrieve items from their logged location within the warehouse and deliver the items to a packing station or port. Such systems can reduce or eliminate the space needed to pass between rows of shelves to access stock, thereby removing the need for broad aisles within the warehouse. One example of such a system involves placing goods in bins or containers that are configured to be stacked, side by side, within a three-dimensional grid. A rail system is arranged on top of the grid, along which robotic container-handling vehicles configured to lift containers from the grid can travel. The container-handling vehicles are configured to transport containers from the grid and to deliver them to ports or stations at the periphery of the grid so that the goods within the container can be picked and packed.

[0005] The storage containers may need to be inspected from time to time. This could be to determine the status of the container, to check or to determine which goods are stored in a given storage container, to check the condition of a container, or to inspect the container in other ways.

[0006] Unlike in traditional systems where containers are accessed form shelves by workers, it is not possible for a worker to access containers for inspection themselves. Therefore container handling vehicles are used to move containers to a port from whichthe container can be removed from the system by a worker and inspected. It is desirable to provide quick and simple container inspection.

[0007] One or more aspects of the invention of the present application are set out in the claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The disclosure will now be described in more detail in connection with a number of exemplary embodiments shown in the accompanying drawings, in which:Fig. 1 shows a perspective view of a storage system comprising a grid and a plurality of robotic container-handling vehicles configured to retrieve and / or rearrange goods stored within the grid;Fig. 2 shows a top view of the system of Fig. 1;Fig. 3A shows a side view of a first robotic container-handling vehicle suitable for use in the system of Fig. 1;Fig. 3B shows a side view of a second robotic container-handling vehicle suitable for use in the system of Fig. 1;Fig. 3C is a perspective side view of the robot of Fig. 3B;Fig. 4 shows a computing device for implementing the operations described herein;Fig. 5 shows a side view of storage system of the present disclosure with an inspection cell located in a vertical storage column;Fig. 6A shows a side view of the system of Fig. 5 with the robotic containerhandling vehicle approaching the vertical storage column having the inspection cell;Fig. 6B shows a side view of the system of Fig. 5 with the robotic containerhandling vehicle lowering a container into the inspection cell;Fig. 6C shows a side view of the system of Fig. 5 with the robotic containerhandling vehicle releasing the container in the inspection cell;Fig. 6D shows a side view of the system of Fig. 5 with the robotic containerhandling vehicle removing the container from the inspection cell; andFig. 7 shows a flow chart of a method for inspecting a container in an inspection cell.DETAILED DESCRIPTION

[0009] In overview, the disclosure relates to providing an inspection cell within the grid of a container storage and retrieval system. The grid includes a number of vertical stacking columns for stacking containers. The inspection cell is positioned in a vertical stacking column. A storage container, or bin, is moved to the inspection cell by a container-handling vehicle. Once in the inspection cell, the container is inspected. The inspection cell has inbuilt means for inspecting the container. In this way, the container can be inspected without the container having to leave the grid.

[0010] In some examples the inspection cell includes a load cell which is configured to weigh a container which is positioned in the inspection cell. In some examples the inspection cell has a scanner for scanning a bar code on the container. In some examples, the inspection cell has a camera for capturing an image of the contents of the container. The inspection cell is located near the top or upper end of the vertical column, close to the grid. This means the container only needs to be lowered a short distance from the grid by the container-handling vehicle to the inspection grid.

[0011] By providing the inspection cell within the grid, the container can be inspected without needing to be removed from the grid. In known systems, the container is inspected external to the storage system. To do this, the container must be moved to a port, removed from the grid and inspected by a worker. In the present disclosure the container can be inspected whilst in the grid and without the need for a worker to perform the inspection.Automated storage and retrieval system overview

[0012] Referring to the embodiment shown in Fig. 1, a grid too comprises a frame formed by a plurality of generally rectilinear, adjacent vertical columns 102 formed between vertical frame members 104 and extending in the X and Y directions 108, 110. The grid elements may be fabricated of any appropriate material; for example, the frame members maybe formed of extruded aluminium. Storage containers orbins 112 are stacked on top of each other, preferably in a self-supporting manner, in the Z direction 114 in the columns 102, forming a storage volume of storage cells for respective bins 112 extending in the X, Y and Z directions 108, 110, 114.

[0013] A rail system or network 116 is formed on top of the grid too and comprises pairs of vehicle rails or tracks 118a, 118b and 120a, 120b, respectively extending in the X and Y directions 108, 110. Robotic container-handling vehicles, or robots, 122, which can be of a range of size, shape and function, are provided and configured to run on the rails 118, 120 and to transport bins 112 in both the X and Y directions 108, 110. The robots 122 are additionally configured to lift and lower bins 112 from / into the columns 102 in the Z direction 114, the bins 112 optionally being guided by the vertical frame members 104. The robots 122 access the bins 112 via access openings 124 above the columns 102 and formed between the rails 118, 120.

[0014] Some columns 102 may be used for alternative purposes than bin storage. For example, port columns 126, 128 comprise port or access columns allowing transfer of a bin 112 in and / or out of the grid too. Port columns 126, 128 provide a vertical channel for lifting of a bin 112 from, or lowering of a bin 112 to, a port or ports 130, 132. The ports 130, 132 are shown in Fig. 1 at the lowest level of the grid, however ports can be located at any vertical position along the column. The respective port columns 126, 128 can be assigned for removing (‘drop-off’) and / or returning or delivering (‘pick-up’) bins 112 from / to the grid too. The ports 130, 132 are therefore configured to allow bins 112 to be removed and reintroduced (horizontally) into the associated port column. As such, a port 130, 132 can comprise a conveyor (not shown in Fig. 1) onto which a bin 112 maybe lowered and transported horizontally out of the port column. The port columns 126, 128 include an opening or access point through which bins 112 can enter and leave the column.

[0015] Bins 112 can be transported along the top of the grid too to and / or from a port column 126, 128 by robots 122, and from a port 130, 132 to a location outside the grid too, which maybe an access station (not shown) for processing of the bin 112 or its contents, such as a picking station for adding content to, or removing content from, the bin 112. In alternative examples (not shown), the bin 112 maybe transported to a port of another grid on the same or another level, or to an external facility. Transport of bins 112 to and from ports 130, 132 maybe by any appropriate means (not shown) including conveyors, transport vehicles, lifts or robots.

[0016] Referring to the embodiment shown in Fig. 2, the X-Y configuration 200 of the rail system 116 can be seen in more detail, together with robots 202, 204 of different types. The rail system includes rails 206 defining between them vertical column access openings 124 for access to bins 112. The rails 206 can be any appropriate type forpermitting travel of the robots 202, 204 in the X and Y directions 108, 110 thereon, including (not shown) groove-type rails for receiving vehicle wheels, or protrusion-type rails for engaging wheel recesses. Each rail 206 may comprise a single track or multiple parallel tracks in each of the X and Y directions 108, 110.

[0017] A first, ‘cantilever’ type of robot 202 is shown in more detail in Fig. 3A and includes a body 300, a set of wheels 302 and a lifting device 304. The body 300 contains operational equipment (not shown) for the robot 202 including drive, power and control systems. The wheels 302 permit movement of the robot 202 in one of the X and Y directions, an additional set of wheels (not visible in this view) permitting movement in the other of the X and Y directions, in both cases along the respective rails or tracks 206. One or both sets of wheels can be raised or lowered to permit selective engagement of the rails for movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending in the X-Y plane from the top of the body 300, and a gripping device 308, which is raisable and lowerable from the cantilever element 306. The gripping device 308 is configured to grip or engage a bin 112; for example, by gripping a part of the bin 112, or by passively or actively engaging a suitably configured part of the bin 112.

[0018] A second, ‘internal cavity’ type of robot 204 is shown in more detail in Fig. 3B and includes, as an alternative to the cantilevered lifting system, an internal cavity 310 within the body 300 and in which the lifting device 312 including a gripping device (not shown) is located. In this case, the body 300 includes the robot’s operational equipment and a storage space for one or more bins 112, for use, for example, while transporting the bin 112.

[0019] Fig. 3C shows a perspective side view of the robot of Fig. 3B in which the first set of wheels 302 from Fig. 3B are visible. The additional set of wheels referenced above but not shown in Fig. 3B are shown as wheels 303 in Fig. 3C. The additional set of wheels 303 is arranged perpendicular to the first set of wheels 302, to allow rolling of the robot 204 in the X and Y directions on the first and second set of wheels 302, 303 respectively. The first and second set of wheels 302, 303 shown in Fig. 3C maybe configured to be independently lowered into engagement with the rails (and conversely raised out of engagement with the rails) to allow the robot 202 to move in the X and Y direction across the arrangement of rails shown in Fig. 2. Although the perspective view shown in Fig. 3C is of the robot 204 of Fig. 3B, it will be appreciated that a similar perpendicular wheel arrangement maybe applied to the robot 202 of Fig. 3A.Control and monitoring system

[0020] Control and monitoring of the automated storage and retrieval system, including monitoring and storing bin position and controlling bin delivery, retrieval and transport and robot routing and collision avoidance, is performed by a control system shown in Fig. 4 in communication with the robots and / or other controllable system components. Control can be performed locally or remotely and maybe implemented by a processing system, for example in the form of a computing device. Accordingly, the methods described herein may form all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0021] With reference to Fig. 4, a processing system 400 suitable for carrying out the methods described herein will now be described. Fig. 4 shows a block diagram of one implementation of a processing system 400 in the form of a computing device within which a set of instructions for causing the computing device to perform any one or more of the methods described herein may be executed. In some implementations, the computing device maybe connected (e.g., networked) to other machines in a Local Area Network (LAN), an intranet, an extranet, or the Internet. The computing device may operate in the capacity of a server or a client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device maybe a personal computer (PC), a tablet computer, a set-top box (STB), a Personal Digital Assistant (PDA), a cellular telephone, a web appliance, a server, a network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single computing device is illustrated, the term ‘computing device’ shall also be taken to include any collection of machines (e.g., computers) that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methods described herein.

[0022] The example processing system 400 includes a processor 402, a main memory 404 (e.g., read-only memory (ROM), flash memory, dynamic random-access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), a static memory 406 (e.g., flash memory, static random-access memory (SRAM), etc.), and a secondary memory (e.g., a data storage device 418), which communicate with each other via a bus 430.

[0023] Processor 402 represents one or more general-purpose processors such as a microprocessor, central processing unit, or the like. More particularly, the processor402 maybe a complex instruction set computing (CISC) microprocessor, reduced instruction set computing (RISC) microprocessor, very long instruction word (VLIW) microprocessor, processor implementing other instruction sets, or processors implementing a combination of instruction sets. Processor 402 may also be one or more special-purpose processors such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), network processor, or the like. Processor 402 is configured to execute the processing logic (instructions 422) for performing the operations and steps described herein.

[0024] The processing system 400 may further include a network interface device 408. The processing system 400 also may include any of a video display unit 410 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 412 (e.g., a keyboard or touchscreen), a cursor control device 414 (e.g., a mouse or touchscreen), and an audio device 416 (e.g., a speaker).

[0025] It will be apparent that some features of the processing system 400 shown in Fig. 4 maybe absent. For example, the processing system 400 may have no need for display device 410 (or any associated adapters). This maybe the case, for example, for particular server-side computer apparatuses which are used only for their processing capabilities and do not need to display information to users. Similarly, user input device 412 may not be required. In its simplest form, processing system 400 comprises processor 402 and main memory 404.

[0026] The data storage device 418 may include one or more machine-readable storage media (or more specifically one or more non-transitory computer-readable storage media) 428 on which is stored one or more sets of instructions 422 embodying any one or more of the methods or functions described herein. The instructions 422 may also reside, completely or at least partially, within the main memory 404 and / or within the processor 402 during execution thereof by the processing system 400, the main memory 404 and the processor 402 also constituting computer-readable storage media 428.

[0027] The various methods described herein may be implemented by a computer program. The computer program may include computer code arranged to instruct a computer to perform the functions of one or more of the various methods described herein. The computer program and / or the code for performing such methods maybe provided to an apparatus, such as a computer, on one or more computer-readable media or, more generally, a computer program product. The computer-readable media maybetransitory or non-transitory. The one or more computer-readable media could be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or a propagation medium for data transmission, for example for downloading the code over the Internet. Alternatively, the one or more computer-readable media could take the form of one or more physical computer-readable media such as semiconductor or solid-state memory, magnetic tape, a removable computer diskette, a random-access memory (RAM), a read-only memory (ROM), a rigid magnetic disc, or an optical disk, such as a CD-ROM, CD-R / W or DVD.

[0028] The computer program is executable by the processor 402 to perform functions of the systems and methods described herein.

[0029] In an implementation, the modules, components, and other features described herein can be implemented as discrete components or integrated in the functionality of hardware components such as ASICS, FPGAs, DSPs, or similar devices.

[0030] A ‘hardware component’ is a tangible (e.g., non-transitory) physical component (e.g., a set of one or more processors) capable of performing certain operations and maybe configured or arranged in a certain physical manner. A hardware component may include dedicated circuitry or logic that is permanently configured to perform certain operations. A hardware component maybe or include a special-purpose processor, such as a field programmable gate array (FPGA) or an ASIC. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

[0031] Accordingly, the phrase ‘hardware component’ should be understood to encompass a tangible entity that maybe physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or to perform certain operations described herein.

[0032] In addition, the modules and components can be implemented as firmware or functional circuitry within hardware devices. Further, the modules and components can be implemented in any combination of hardware devices and software components, or only in software (e.g., code stored or otherwise embodied in a machine- readable medium or in a transmission medium).Operation of the automated storage and retrieval system

[0033] In operation, each bin 112 is given a unique identifier, which maybe marked on the bin 112 using a computer-readable identifier (e.g., a barcode, quickresponse code or radio-frequency identification tag) to ease identification of the bin 112. A database of the processing system 400 stores, in association with the unique identifier, the position and, optionally, content of each bin 112. When a bin 112 is moved (e.g., when it is retrieved from the grid 100), the database is updated to record its change in position.

[0034] When it is desired to retrieve a bin 112 from the grid too, under control of the processing system 400, a robot 202, 204 is routed via the rail system 116 to the vertical column 102 including the storage cell where, according to the database, the bin 112 is positioned, and the lifting device 304, 312 is positioned (according to robot type) over the corresponding access opening 124, either adjacent or below the robot 202, 204. The robot 202, 204 lowers the gripping device 308 which engages, grips and lifts the bin 112 to the robot 202, 204. The robot 202, 204 then transports the bin 112, for example, to the drop-off port column 126, 128 for delivery to the port 130, 132 and subsequent processing external to the grid too. In the event that the target or designated bin 112 is below other bins in the stack then the robot 202, 204 or multiple robots, which may be dedicated to the task, are controlled in a ‘digging’ operation to sequentially lift and reposition, temporarily or permanently, bins above the target bin 112 in order for it to be retrieved. It will be appreciated that other operations in relation to the bin 112 can be carried out in a similar manner. For example, a bin 112 can be delivered for storage in the grid too at the port 130, 132 of the pick-up port column 126, 128, gripped and lifted by a robot 202, 204 and delivered to the desired storage cell, bins above the desired position being repositioned if necessary as discussed above.Description of specific improvements

[0035] Figure 5 shows a side view of a grid too of the present disclosure. The rails 206 are positioned on a plurality of columns 504 which define a plurality of vertical storage columns 502. Each vertical storage column 502 can store a plurality of containers (not shown) in a stacked configuration.

[0036] A robot 204 is located on the rails 206 and configured to: remove containers from the vertical storage columns, to move containers (not shown) across the top of the grid, and lower containers into the vertical storage columns. The robot 202shown in Figs. 5 to 10 is a cantilever type robot, however the disclosure also relates to an internal cavity type robot.

[0037] The grid in Fig. 5 has an inspection cell 508. The inspection cell 508 is located in a vertical storage column 510. The vertical storage column 510 which includes the inspection cell 508 is not used for stacking and storing containers.

[0038] The inspection cell 508 includes a shelf 512. The shelf 512 is configured to support the weight of a container. The shelf is positioned towards the top of the vertical storage column 510. It is positioned in the upper half of the storage column, in some embodiments in the upper quarter, or upper tenth of the storage column.

[0039] For a system configured to store and remove containers having a certain height, the shelf is positioned below the rail system by a distance of twice the container height or less. By providing inspection cell in the upper portion of the vertical storage column, the cell is relatively close to the rail system, and therefore the container only needs to be lowered a small distance from the robot to the cell. This will be explained in more detail below.

[0040] The inspection cell 508 has means for inspecting a container positioned in the cell. Different means for inspecting the container can be used for obtaining different information about the container. The inspection means obtains inspection data from the container. The information data includes information about the container. The information is sent from the inspection cell to a central server.

[0041] In the embodiment in Fig. 5, the inspection cell includes a load cell for weighing the container. The load cell includes a weighing scale having a plate 514 on the shelf 512, and a display 516 for displaying the weight of an object resting on the plate 514. In other embodiments there is no display.

[0042] The load cell calculates the weight of the container located in the load cell. In some embodiments the weighting scale is an electronic weighing scale. In embodiments with a display the weight of the container is displayed on the display. The inspection cell is located at the edge of the grid and visible to a worker on the external side of the grid who can take a note of the weight displayed on the display 516.

[0043] In other embodiments the load cell determines the weight of the container and sends the weight of the container to a central controller, such as processing system 400. It sends data comprising the weight of the container to the processing system 400over a wired or wireless connection. The wireless connection maybe, for example, Bluetooth ™ or WiFi ™.

[0044] The central controller or processing system 400 may store the weight in a memory. The weight maybe stored along with an identification of the container, for example in a database. In this way the known weight of the container can be tracked. When the container is moved around the system by the robots, the weight is known. This information could be used in determining where in a vertical storage column a container is stored. For example, the system may determine that a container over a certain threshold weight is not stacked at the top of a vertical storage column.

[0045] The weight can also be used to determine the contents of the container, for example the goods located in the container. The processing system 400 could compare the weight of the container received from the load cell to an expected weight of the container based on a combination of the recorded goods in the container and the wights of the goods stored in a database on the processing system. If the received weight is within a threshold range of the expected weight the system determines that the container is loaded as expected. If the received weight is outside of a threshold range of the expected weight then the system determines that the container is not loaded as expected. In some examples, this triggers an instruction message for a robot to remove the container from the inspection cell and transfer the container to a port. The container is then removed from the grid via the port. The contents of the container can be determined and recorded by a worker once the container is removed from the grid. In other examples, if it is determined that the container is not loaded as expected, an instruction message maybe sent to the inspection container to capture an image of the contents of the container. Inspection cells configured to capture an image of a container are discussed below.

[0046] The inspection cell may comprise other means for inspecting a container positioned in the cell in addition to, or instead of, a load cell for weighing the container. In one embodiment, the inspection cell has an image capturing device, such as a camera. In some embodiments the camera is positioned to capture an image from above a container located in the inspection cell. The containers have open tops. This means a camera positioned above the container can capture an image of the container from above. In the image includes the inside of the container, including the contents of the container if the container is loaded.

[0047] Insome implementations the camera is a digital camera and is configured to send captured image data to a central controller such as the processing system 400. The processing system 400 then processes the image data, discussed more below. In some implementations the camera is configured to capture any of: colour images, black and white images, infra-red images. The images maybe still picture images or maybe video images. In some implementations, the video images maybe sent to the controller for a user to view a live feed from the camera.

[0048] The image data captured by the camera is sent to the central controller over a wired or wireless connection. One the image data has been received at the central controller it is processed in any of the following ways.

[0049] In some implementations, the image captured by the camera is displayed on a display to a user. The user can visually inspect the contents of the container. The used can visually identify stock and manually record the contents / good in the container. The user can therefore keep an accurate inventory. If a user needs to locate an object within the storage system, they can move a container to the inspection cell. They can then view an image of the container provided by the camera in the inspection cell to determine whether the object they are locating is in the container. This is more efficient than being required to remove the container from the grid and to physically / manually inspect the contents of the container. It also provides a more efficient system sine less energy is used removing containers from the system to determine the required information, and energy is not wasted on removing containers from the system which do not contain the required goods.

[0050] Optionally the user can make a record of the inventory / goods in the container by inputting the information into the central controller. The controller can store a record to the inventory in a memory. In some implementations the controller is also configured to store the image of the container.

[0051] The user can also inspect the image on the display for debris. IN this way, the user can determine whether a container is clean. If a user determines a container is unclear, or contains debris such as dirt or broken objects, the container can be removed from the grid. This is done by moving the container to a port (using a container-handling vehicle). The container can then be cleaned and any debris can be removed. Once the container is suitable for use it can be returned to the grid. By viewing the interior of the container in the inspection cell. The status of the container can be determined without needing to remove the container from the grid, providing a more efficient system. It alsosupports better maintenance of the system since containers can be removed if they are unclean or container debris. This prevents a scenario where a container is only discovered to be unclear / unfit for use when it is in use, such as being loaded with goods in a port. If dirt or debris is discovered when a container is being filled with goods, an alternative container must be found. This increases the length of the loading process and leads to an inefficient system. By having an inspection call within the grid, the condition of the container can be assessed when / ghe , and video images. The The camera is able to capture , Camera and image capture (content identification and check they are clean)Scanner and barcode on each container. Link with weighing and image capture.Method: put in, capture data, remove.Try to stick to a structure then operation approach.Use headings liberally - use the ‘Heading 2’ style to get the formatting right and to have the heading show up in Word’s navigation pane.We have a taxonomy of terminology, please use it where possible.]Penultimate comments

[0052] The disclosure also includes the following clauses:1. A storage system for storing storage containers, the storage system comprising: a plurality of vertical storage columns, each vertical storage column configured to accommodate a plurality of storage containers in a vertical stack; a horizontal rail system arranged above the vertical storage columns, configured to support a vehicle to travel on the rail system to insert and remove storage containers from the vertical storage columns; and an inspection cell located in a vertical storage column and configured to obtain inspection data from a storage container positioned in the inspection cell.2. The storage system according to clause 1, wherein the inspection cell comprises a shelf for supporting the weight of a storage container.3. The storage system according any preceding clause, wherein inspection cell is located towards the upper end of the vertical storage column.4. The storage system according to clause 3, wherein the inspection cell is located at the top of the vertical storage column.5. The storage system according to any preceding clause, wherein the storage system is configured to store storage containers having a given height, and wherein the inspection cell comprises a shelf located below the horizontal rail system by a distance lass than twice the height of a storage container.6. The storage system according to any preceding clause, wherein the inspection cell comprises a load cell configured to register the weight of a storage container positioned in the inspection cell.7. The storage system according to clause 6, wherein the load cell comprises an electronic weighing scale.8. The storage system according to any preceding clause, wherein the inspection cell comprises a camera configured to image a storage container located in the inspection cell.9. The storage system according to any preceding clause, wherein the inspection cell comprises a scanner configured to scan a barcode of a storage container in the inspection cell.10. The storage system of any preceding clause, further comprising a vehicle configured to travel on the rail system and to insert and remove storage containers from the vertical storage columns.n. The storage system of clause 10, wherein the vehicle is configured to: insert a storage container into the inspection cell; release the storage container; wait for the inspection cell to obtain inspection data from the storage container; and remove the storage container from the inspection cell.12. The storage system of clause 11, wherein the vehicle is further configured to: receive an indication from a central server that the container has been inspected; and after the indication has been received, remove the storage container from the inspection cell.13. The storage system according to any preceding clause, wherein the inspection cell is configured to transmit the obtained inspection data to a central controller.14. The storage system according to clause 13, wherein the inspection cell is configured to transmit the obtained inspection data to the central controller via a wired or wireless connection.15. The storage system according to any preceding clause, further comprising a central controller configured to receive information from the inspection cell.16. The storage system according to clause 15, wherein the central controller is configured to store the received information in a database.17. The storage system according to clause 15 or clause 16, wherein the inspection cell is configured to capture an image of the storage container and the central controller is configured to do at least one of: determine a load status of the storage container; identify the contents of the storage container; anddetermine a cleanliness status of the storage container by analysing the image for debris.18. The storage system according to any of clauses 15 to 17, wherein the inspection cell is configured to scan a barcode on the storage container, and the central controller is further configured to identify the storge container using the scanned barcode.19. The storage system according to any of clauses 15 to 18, wherein the central controller is further configured to remotely operate one or more vehicles to travel on the rail system and to insert and remove storage containers from the vertical storage columns.20. The storage system according to any preceding clause, further comprising one or more storage containers.21. A method of inspecting a storage container in the storage system of any preceding clause, the method comprising: inserting, by a vehicle, a storage container into an inspection cell located in a vertical storage column; releasing, by the vehicle, the storage container; inspecting, by the inspection cell, the storage container; and removing, by the vehicle, the storage container from the inspection cell.22. The method of clause 21, wherein inserting the storage container into the inspection cell comprises vertically lowering the storage container into the inspection cell, and wherein removing the storage container from the inspection cell comprises vertically raising the storage container from inspection cell.23. The method of clause 21 or clause 22, wherein inspecting the storage container comprises weighing the storage container.24. The method of any of clauses 21 to 23, wherein inspecting the storage container comprises capturing an image of the storage container.25. The method of any of clause 24, further comprising, analysing the captured image to determine a load status of the storage container.26. The method of clause 24 or clause 25, further comprising determining the contents of the storage container from the image.27. The method of any of clauses 24 to 26, further comprising analysing the image for debris.28. The method of any of clauses 21 to 27, wherein inspecting the storage container comprises scanning a bar code of the storage container.29. The method of any of clauses 21 to 28, further comprising sending, by the inspection cell to a central controller, captured inspection data relating to the storage container.

[0053] It is to be understood that the above description is intended to be illustrative, and not restrictive. Many other implementations will be apparent to those of skill in the art upon reading and understanding the above description. Although the present disclosure has been described with reference to specific example implementations, it will be recognized that the disclosure is not limited to the implementations described, but can be practiced with modification and alteration within the spirit and scope of the appended claims. Accordingly, the specification and drawings are to be regarded in an illustrative sense rather than a restrictive sense. The scope of the disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

CLAIMS1. A storage system for storing storage containers, the storage system comprising: a plurality of vertical storage columns, each vertical storage column configured to accommodate a plurality of storage containers in a vertical stack; a horizontal rail system arranged above the vertical storage columns, configured to support a vehicle to travel on the rail system to insert and remove storage containers from the vertical storage columns; and an inspection cell located in a vertical storage column and configured to obtain inspection data from a storage container positioned in the inspection cell.

2. The storage system according any preceding claim, wherein inspection cell is located towards the upper end of the vertical storage column.

3. The storage system according to any preceding claim, further comprising a at least one storage container, and wherein the inspection cell comprises a shelf located below the horizontal rail system by a distance less than twice the height of the storage container.

4. The storage system according to any preceding claim, wherein the inspection cell comprises a load cell configured to register the weight of a storage container positioned in the inspection cell.

5. The storage system according to claim 4, wherein the load cell comprises an electronic weighing scale.

6. The storage system according to any preceding claim, wherein the inspection cell comprises at least one of: a camera configured to image a storage container located in the inspection cell; and a scanner configured to scan a barcode of a storage container in the inspection cell.

7. The storage system of any preceding claim, further comprising a vehicle configured to travel on the rail system and to insert and remove storage containers from the vertical storage columns, wherein the vehicle is configured to:insert a storage container into the inspection cell; release the storage container; wait for the inspection cell to obtain inspection data from the storage container; and remove the storage container from the inspection cell.

8. The storage system of claim 7, wherein the vehicle is further configured to: receive an indication from a central server that the container has been inspected; and after the indication has been received, remove the storage container from the inspection cell.

9. The storage system according to any preceding claim, wherein the inspection cell is configured to transmit the obtained inspection data to a central controller via a wired or wireless connection.

10. The storage system according to any preceding claim, further comprising a central controller configured to receive information from the inspection cell and to store the received information, .

11. The storage system according to claim 10, wherein either: the inspection cell is configured to capture an image of the storage container and the central controller is configured to do at least one of: determine a load status of the storage container; identify the contents of the storage container; and determine a cleanliness status of the storage container by analysing the image for debris; or the inspection cell is configured to scan a barcode on the storage container, and the central controller is further configured to identify the storge container using the scanned barcode.

12. A method of inspecting a storage container in the storage system of any preceding claim, the method comprising: inserting, by a vehicle, a storage container into an inspection cell located in a vertical storage column; releasing, by the vehicle, the storage container;inspecting, by the inspection cell, the storage container; and removing, by the vehicle, the storage container from the inspection cell.13- The method of claim 12, wherein inserting the storage container into the inspection cell comprises vertically lowering the storage container into the inspection cell, and wherein removing the storage container from the inspection cell comprises vertically raising the storage container from inspection cell.

14. The method of claim 12 or claim 13, wherein inspecting the storage container comprises at least one of weighing the storage container and scanning a bar code of the storage container.

15. The method of any of claims 12 to 14, wherein inspecting the storage container comprises capturing an image of the storage container, and wherein the method further comprises at least one of: analysing the captured image to determine a load status of the storage container; determining the contents of the storage container from the image; and analysing the image for debris.

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